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<div class="title">BinoCamera.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * StereoCamera.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: 2017年11月6日</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *      Author: clover</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef SDKLINK_SDKSRC_BINOCAMERA_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define SDKLINK_SDKSRC_BINOCAMERA_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structBinoCameraParameterList.html">   21</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structBinoCameraParameterList.html">BinoCameraParameterList</a>{</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structBinoCameraParameterList.html#a6548a47272da00ae1f2938911953a0c5">   22</a></span>&#160;    std::string <a class="code" href="structBinoCameraParameterList.html#a6548a47272da00ae1f2938911953a0c5">devPath</a> = <span class="stringliteral">&quot;/dev/video0&quot;</span>;  </div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structBinoCameraParameterList.html#acc45b286726dc4f47ef631d905ddc8db">   23</a></span>&#160;    std::string <a class="code" href="structBinoCameraParameterList.html#acc45b286726dc4f47ef631d905ddc8db">extParameterPath</a> = <span class="stringliteral">&quot;&quot;</span>;    </div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structBinoCameraParameterList.html#ad2c8ebe70a244b212608d2a549c74b4a">   24</a></span>&#160;    std::string <a class="code" href="structBinoCameraParameterList.html#ad2c8ebe70a244b212608d2a549c74b4a">intParameterPath</a> = <span class="stringliteral">&quot;&quot;</span>;    </div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;};</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structImuData.html">   30</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structImuData.html">ImuData</a>{</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structImuData.html#a6677f5c89b3ceed1830c6a3cf5e66285">   31</a></span>&#160;    uint32_t <a class="code" href="structImuData.html#a6677f5c89b3ceed1830c6a3cf5e66285">time</a>;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structImuData.html#ab0a1374aff9f7988812811f6e453c123">   33</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#ab0a1374aff9f7988812811f6e453c123">accel_x</a>; </div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structImuData.html#abfc7185440169b8ef2571f9df60741b5">   34</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#abfc7185440169b8ef2571f9df60741b5">accel_y</a>; </div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structImuData.html#a0c86f254f9f528e174e9ea7779eb2e99">   35</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#a0c86f254f9f528e174e9ea7779eb2e99">accel_z</a>; </div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structImuData.html#a7693a5307463d99e37530abc5f3ec8ec">   37</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#a7693a5307463d99e37530abc5f3ec8ec">gyro_x</a>; </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structImuData.html#a9cb9ff8ceb19f95af9a2c1144d167067">   38</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#a9cb9ff8ceb19f95af9a2c1144d167067">gyro_y</a>; </div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structImuData.html#a1f5297d4e01240a47f0c4a8338a9df5f">   39</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="structImuData.html#a1f5297d4e01240a47f0c4a8338a9df5f">gyro_z</a>; </div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;};</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classBinoCamera.html">   47</a></span>&#160;<span class="keyword">class </span><a class="code" href="classBinoCamera.html">BinoCamera</a> {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="classBinoCamera.html">BinoCamera</a>(<a class="code" href="structBinoCameraParameterList.html">BinoCameraParameterList</a> paraList);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classBinoCamera.html">BinoCamera</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">void</span> Grab();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">void</span> getOrgImage(cv::Mat&amp; L, cv::Mat&amp; R);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">void</span> getRectImage(cv::Mat&amp; L, cv::Mat&amp; R);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">void</span> getDisparity(<span class="keyword">const</span> cv::Mat&amp; rectLeft,</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <span class="keyword">const</span> cv::Mat&amp; rectRight,</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            cv::Mat&amp; disparateU16Mat);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">bool</span> getCameraParameter(cv::Mat&amp; para);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">void</span> setImuCorrection(<span class="keywordtype">float</span> deadmin,<span class="keywordtype">float</span> deadmax,<span class="keywordtype">float</span> axerr,<span class="keywordtype">float</span> ayerr,<span class="keywordtype">float</span> azerr);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">void</span> getImuRawData(std::vector&lt;ImuData&gt; &amp;imuDatas, uint32_t &amp;timestamp);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">void</span> ImuRect(<a class="code" href="structImuData.html">ImuData</a> imu,<span class="keywordtype">float</span> timestamp,<span class="keywordtype">float</span> *q);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    cv::Mat LeftImg,RightImg;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    std::vector&lt;ImuData&gt; ImuDatas;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    uint32_t TimeStamp;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;};</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* SDKLINK_SDKSRC_BINOCAMERA_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="structImuData_html_abfc7185440169b8ef2571f9df60741b5"><div class="ttname"><a href="structImuData.html#abfc7185440169b8ef2571f9df60741b5">ImuData::accel_y</a></div><div class="ttdeci">float accel_y</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:34</div></div>
<div class="ttc" id="structImuData_html_a6677f5c89b3ceed1830c6a3cf5e66285"><div class="ttname"><a href="structImuData.html#a6677f5c89b3ceed1830c6a3cf5e66285">ImuData::time</a></div><div class="ttdeci">uint32_t time</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:31</div></div>
<div class="ttc" id="structImuData_html_a1f5297d4e01240a47f0c4a8338a9df5f"><div class="ttname"><a href="structImuData.html#a1f5297d4e01240a47f0c4a8338a9df5f">ImuData::gyro_z</a></div><div class="ttdeci">float gyro_z</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:39</div></div>
<div class="ttc" id="structBinoCameraParameterList_html"><div class="ttname"><a href="structBinoCameraParameterList.html">BinoCameraParameterList</a></div><div class="ttdoc">相机参数表述结构体 其中包含相 </div><div class="ttdef"><b>Definition:</b> BinoCamera.h:21</div></div>
<div class="ttc" id="structImuData_html_ab0a1374aff9f7988812811f6e453c123"><div class="ttname"><a href="structImuData.html#ab0a1374aff9f7988812811f6e453c123">ImuData::accel_x</a></div><div class="ttdeci">float accel_x</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:33</div></div>
<div class="ttc" id="structBinoCameraParameterList_html_ad2c8ebe70a244b212608d2a549c74b4a"><div class="ttname"><a href="structBinoCameraParameterList.html#ad2c8ebe70a244b212608d2a549c74b4a">BinoCameraParameterList::intParameterPath</a></div><div class="ttdeci">std::string intParameterPath</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:24</div></div>
<div class="ttc" id="classBinoCamera_html"><div class="ttname"><a href="classBinoCamera.html">BinoCamera</a></div><div class="ttdoc">BinoCamera 类头文件 </div><div class="ttdef"><b>Definition:</b> BinoCamera.h:47</div></div>
<div class="ttc" id="structImuData_html"><div class="ttname"><a href="structImuData.html">ImuData</a></div><div class="ttdoc">imu数据结构体 </div><div class="ttdef"><b>Definition:</b> BinoCamera.h:30</div></div>
<div class="ttc" id="structImuData_html_a9cb9ff8ceb19f95af9a2c1144d167067"><div class="ttname"><a href="structImuData.html#a9cb9ff8ceb19f95af9a2c1144d167067">ImuData::gyro_y</a></div><div class="ttdeci">float gyro_y</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:38</div></div>
<div class="ttc" id="structBinoCameraParameterList_html_acc45b286726dc4f47ef631d905ddc8db"><div class="ttname"><a href="structBinoCameraParameterList.html#acc45b286726dc4f47ef631d905ddc8db">BinoCameraParameterList::extParameterPath</a></div><div class="ttdeci">std::string extParameterPath</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:23</div></div>
<div class="ttc" id="structBinoCameraParameterList_html_a6548a47272da00ae1f2938911953a0c5"><div class="ttname"><a href="structBinoCameraParameterList.html#a6548a47272da00ae1f2938911953a0c5">BinoCameraParameterList::devPath</a></div><div class="ttdeci">std::string devPath</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:22</div></div>
<div class="ttc" id="structImuData_html_a0c86f254f9f528e174e9ea7779eb2e99"><div class="ttname"><a href="structImuData.html#a0c86f254f9f528e174e9ea7779eb2e99">ImuData::accel_z</a></div><div class="ttdeci">float accel_z</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:35</div></div>
<div class="ttc" id="structImuData_html_a7693a5307463d99e37530abc5f3ec8ec"><div class="ttname"><a href="structImuData.html#a7693a5307463d99e37530abc5f3ec8ec">ImuData::gyro_x</a></div><div class="ttdeci">float gyro_x</div><div class="ttdef"><b>Definition:</b> BinoCamera.h:37</div></div>
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